Nussbaum-Based Adaptive Fuzzy Tracking Control of Unmanned Surface Vehicles with Fully Unknown Dynamics and Complex Input Nonlinearities

• Published in: International journal of fuzzy systems Vol. 20; no. 1; pp. 259 - 268
• Main Authors: Wang, Ning, Gao, Ying, Sun, Zhuo, Zheng, Zhongjiu
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.01.2018; Springer Nature B.V
• Subjects: Adaptive control; Approximation; Artificial Intelligence; Closed loops; Computational Intelligence; Controllers; Design; Engineering; Fluid mechanics; Fuzzy control; Fuzzy logic; Management Science; Neural networks; Nonlinearity; Operations Research; Surface vehicles; Systems stability; Tracking control; Tracking errors; Tracking systems; Trajectory control; Uncertainty; Unmanned vehicles; Adaptive fuzzy control; Fully unknown dynamics; Complex input nonlinearities; Unmanned surface vehicles; Fuzzy approximation

In this paper, subject to both fully unknown dynamics and complex input nonlinearities including unknown control directions and dead zones, a Nussbaum-based adaptive fuzzy trajectory tracking control scheme of an unmanned surface vehicle is addressed by combining adaptive fuzzy backstepping techniqu...